Series DC Motor Operation Point Selection

class gem_controllers.stages.operation_point_selection.series_dc_ops.SeriesDcOperationPointSelection[source]

This class computes the current operation point of a SeriesDc Motor for a given torque reference value.

_select_operating_point(state, reference)[source]

Calculate the current refrence values.

Parameters

  • state (np.ndarray) – The state of the environment.

  • reference (np.ndarray) – The reference of the state.

Returns

current reference values

Return type

np.array

property cross_inductance

Cross inductance of the Series Dc motor

tune(env, env_id, current_safety_margin=0.2)[source]

Tune the operation point selcetion stage.

Parameters

  • env (gym_electric_motor.ElectricMotorEnvironment) – The environment to be controlled.

  • env_id (str) – The id of the environment.

  • current_safety_margin (float) – Percentage of the current margin to the current limit.